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Force-position-workspace hybrid-based stability optimization of reconfigurable cable-driven parallel robot

Published online by Cambridge University Press:  02 June 2025

Yakun Wang ,
Daoming Wang ,
Bin Zi Open the ORCID record for Bin Zi [Opens in a new window]  and
Dan Zhang Open the ORCID record for Dan Zhang [Opens in a new window]
Yakun Wang
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230009, China
Daoming Wang
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230009, China
Bin Zi*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, 230009, China School of Mechano-Electronic Engineering, Xidian University, Xi’ an, Shanxi, 710071, China
Dan Zhang
Affiliation:
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, SAR, 999077, China
*
Corresponding author: Email: zibinhfut@163.com
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Abstract

Cable-driven parallel robots (CDPRs) have been widely used as motion executers for their large workspace and lower inertia. However, there are few studies on structural optimization design considering its stability. This paper proposes a stability optimization method based on force-position workspace for a reconfigurable cable-driven parallel robot (RCDPR). First, the structural optimization analysis of RCDPR is carried out. Then, the forces distribution algorithm based on the feasibility of real-time control is determined, and the boundary contour algorithm (BCA) of the RCDPR force feasible workspace (FFW) on the central plane is proposed. Second, the stiffness and cables driving force space (CFS) models of RCDPR are established. Subsequently, the stability evaluation function is established to optimize the structure of RCDPR, which uses FFW and main task feasible workspace (MFW) as carriers and stiffness and CFS as weights. Finally, an experimental prototype of the developed robot is constructed, and motion performance and workspace verification experiments are conducted. The results demonstrate that the developed RCDPR has good motion accuracy and stable workspace, and the results also verify the feasibility of the stability evaluation function and BCA.

Keywords

cable-driven parallel robotmechanical designboundary contour algorithmcables driving force spacestability
Type
Research Article
Information
Robotica , First View , pp. 1 - 34
Copyright
© The Author(s) 2025. Published by Cambridge University Press

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